Vision-Aided Inertial Navigation for Pose Estimation of Aerial Vehicles

S. Saeedi, F. Samadzadegan, N. El-Sheimy

Abstract:	Integrated multi-sensor GPS/IMU is increasingly used, offering cost-effective and robust solution for aerial vehicle navigation. In this respect, a plethora of research has been made to improve of the efficiency and robustness of GPS/IMU navigation by visual aiding. Moreover, vision-aided inertial navigation systems can precisely estimate the pose (position and orientation parameters) of a vehicle when GPS guidance is not available. This can be achieved by combining inertial measurements from an IMU with the position estimation resulting from visual observations. In this paper, to attempt developing an integrated IMU/Vision navigation system for aerial vehicles, sequences of imageries are processed to determine the position and attitude of the platform. Such an integrated system can bridge the poorly determined sections of the trajectory by low-cost IMU. In this context, vision-based navigation provides attitude and position observation in an EKF algorithm for precisely determining the pose of an aerial vehicle using IMU motion model. Numerical analysis is illustrated to show the potential performance of the proposed hybrid integration.
Published in:	Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009) September 22 - 25, 2009 Savannah International Convention Center Savannah, GA
Pages:	453 - 459
Cite this article:	Saeedi, S., Samadzadegan, F., El-Sheimy, N., "Vision-Aided Inertial Navigation for Pose Estimation of Aerial Vehicles," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 453-459.
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